2A2-H01 Development of Hydraulically Actuated Hexapod Robot COMET-IV : The 3rd Report : Uneven Terrain Walking Control with Stereo Vision Camera

2007 ◽  
Vol 2007 (0) ◽  
pp. _2A2-H01_1-_2A2-H01_4
Author(s):  
Guangri PIAO ◽  
Huzhe YANG ◽  
Xiaowu LIN ◽  
Hiroshi OOROKU ◽  
Masaki OKU ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Hexapod Robot ◽  
Uneven Terrain ◽  
Walking Control ◽  
Hydraulically Actuated

1A1-H06 Autonomous Navigation of Hydraulically Actuated Hexapod Robot COMET-IV : The 3rd Report : Vertical Step Locomotion Control with Stereo Vision Camera

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H06_1-_1A1-H06_4
Author(s):  
Xiaowu LIN ◽  
Hiroshi OOROKU ◽  
Masaki OKU ◽  
Yuji HARADA ◽  
Kosuke FUTAGAMI ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Autonomous Navigation ◽  
Hexapod Robot ◽  
Locomotion Control ◽  
Hydraulically Actuated ◽  
Vertical Step

1A1-B20 Walking Control of Hydraulically Actuated Hexapod Robot with Kick Motion COMET-IV

2010 ◽  
Vol 2010 (0) ◽  
pp. _1A1-B20_1-_1A1-B20_4
Author(s):  
Shota IMAMURA ◽  
Kenzo NONAMI
Keyword(s):  
Hexapod Robot ◽  
Walking Control ◽  
Hydraulically Actuated

1A1-B18 Model Base Walking Control of Hydraulically Actuated Hexapod Robot COMET-IV

2010 ◽  
Vol 2010 (0) ◽  
pp. _1A1-B18_1-_1A1-B18_4
Author(s):  
Yasunaga AKUTSU ◽  
Kenzo NONAMI
Keyword(s):  
Hexapod Robot ◽  
Model Base ◽  
Walking Control ◽  
Hydraulically Actuated

WALKING CONTROL ON UNKNOWN AND UNEVEN TERRAIN FOR BIPED ROBOT WITH SPRING EMBEDDED FEET

2010 ◽  
Author(s):  
MOYURU YAMADA ◽  
SHIGENORI SANO ◽  
NAOKI UCHIYAMA
Keyword(s):  
Biped Robot ◽  
Uneven Terrain ◽  
Walking Control

Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem

2020 ◽  
Vol 39 (7) ◽  
pp. 774-796
Author(s):  
Siavash Rezazadeh ◽  
Jonathan W Hurst
Keyword(s):  
Feedback Linearization ◽  
High Speed ◽  
Forced Oscillation ◽  
Vertical Motion ◽  
Three Dimensions ◽  
Singular Perturbation Theory ◽  
Foot Placement ◽  
Uneven Terrain ◽  
Walking Control ◽  
The Stability

In this article, we present a new controller for stable and robust walking control of ATRIAS, an underactuated bipedal robot designed based on the spring-loaded inverted pendulum (SLIP) model. We propose a forced-oscillation scheme for control of vertical motion, which we prove to be stable and contractive. Moreover, we prove that, through some mild assumptions, the dynamics of the system can be written in a hierarchical form that decouples the stability analyses of the horizontal and vertical directions. We leverage these properties to find a stabilizing class of functions for foot placement. The torso control is also proved to be decoupled using singular perturbation theory and is stabilized through a feedback linearization controller. We also take advantage of the proposed framework’s flexibility and extend it to include a new reflex-based uneven-terrain walking control scheme. We test the controller for various desired walking speeds (0 to 2.5 m/s), for stepping up and down unexpected obstacles (15 cm), and for high-speed walking on a random uneven terrain (up to 10 cm of step-ups and step-downs and up to 1.8 m/s). The results show successful performance of the controller and its stability and robustness against various perturbations.

Optimal two-degree-of-freedom fuzzy control for locomotion control of a hydraulically actuated hexapod robot

2007 ◽  
Vol 177 (8) ◽  
pp. 1892-1915 ◽  
Author(s):  
Ranjit Kumar Barai ◽  
Kenzo Nonami
Keyword(s):  
Fuzzy Control ◽  
Degree Of Freedom ◽  
Hexapod Robot ◽  
Locomotion Control ◽  
Hydraulically Actuated ◽  
Two Degree Of Freedom

1A1-H02 Tele-operation of Hydraulically Actuated Hexapod Robot COMET-IV

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H02_1-_1A1-H02_3
Author(s):  
Hiroshi OOROKU ◽  
Masaki OKU ◽  
Yuji HARADA ◽  
Kosuke FUTAGAMI ◽  
Xiaowu LIN ◽  
...  
Keyword(s):  
Hexapod Robot ◽  
Hydraulically Actuated
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